Tesla’s Elon Musk stated in early June, “I am confident that in less than a year you will be able to go from highway on-ramp to highway exits without touching any controls.”

http://www.greentechmedia.com/articles/read/How-to-Invest-in-the-Driverless-Car-Future

So does a car which is only automated for freeways count as a driverless car or not?

The technology will come out in stages. It has already started with self-parking cars and cruise control that maintains distance from car ahead and lane drift warnings.